(a) (b) (c) (d) (e) (f) (g) (h) (i) (j) (k) (l) (m) (n) (o) (p) (q) (r) (s) (t) (u) (v) (w) (x) Figure 7. The SHPH training on C-PAPR tasks: the (a)-(d) puzzle, (e)-(h) wire loop, (i)-(l) shelf and tray, (m)-(p) breakfast, (q)-(t) hang up, and (u)-(x) carry. 98 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2017